CN112428954A - Adaptive-adjustment doubling auxiliary device and control method - Google Patents

Adaptive-adjustment doubling auxiliary device and control method Download PDF

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Publication number
CN112428954A
CN112428954A CN202011237203.4A CN202011237203A CN112428954A CN 112428954 A CN112428954 A CN 112428954A CN 202011237203 A CN202011237203 A CN 202011237203A CN 112428954 A CN112428954 A CN 112428954A
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vehicle
doubling
millimeter wave
wave radar
alarm
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CN112428954B (en
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袁朝春
张海峰
何友国
张厚忠
孙晓强
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Jiangsu University
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Jiangsu University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
    • B60Q1/346—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction with automatic actuation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means

Abstract

The invention discloses a self-adaptive adjustment doubling auxiliary device and a control method, wherein the self-adaptive adjustment doubling auxiliary device comprises the following steps: the system comprises a doubling auxiliary control unit, a camera module, a detection radar module, an alarm unit, an image display unit and a steering lamp controller; the doubling auxiliary control unit is connected with the camera module, the detection radar module, the alarm unit, the image display unit and the steering lamp controller, and the steering lamp controller is connected with the steering lamp; the doubling auxiliary control unit controls the camera and the detection radar to be turned on according to a signal for turning on the steering lamp, calculates corresponding safe distance according to information detected by the camera and the detection radar, and controls the buzzer, the alarm lamp and the display to remind a driver of whether safe doubling operation can be performed. According to the method, the self-adaptive adjustment safe distance and the self-adaptive adjustment alarm distance are calculated according to the state information of the vehicle and the surrounding environment, and the buzzer and the alarm lamp are controlled to remind a driver so as to assist the driver in carrying out safe doubling operation.

Description

Adaptive-adjustment doubling auxiliary device and control method
Technical Field
The invention relates to an automobile auxiliary device, in particular to a self-adaptive adjusting doubling auxiliary device and a control method.
Background
Along with the development of social economy, the living standard of people is increasingly improved, the automobile keeping quantity is continuously increased, and the accompanying traffic accidents are more and more. Because the automobile rearview mirror has a vision blind area, a driver cannot timely and accurately know the movement direction of a rear vehicle. Meanwhile, the collision risk with the vehicle in front of the vehicle is often neglected in the process of doubling and lane changing. Therefore, vehicle merge scratches are very common in two-vehicle collision accidents.
At present, the problem that the visual blind area that exists to rear-view mirror itself can't be observed mainly has following two kinds of solutions: the method comprises the steps that firstly, the running environment around the vehicle is detected based on a radar (usually a millimeter wave radar) and a camera, the near-end environments on two sides of the vehicle are detected by the camera, and the far-end environment behind the vehicle is monitored by the radar, so that the running environment around the vehicle is detected; and secondly, detecting the surrounding driving environment of the vehicle based on a binocular recognition system. The two schemes can well detect the surrounding form environment of the vehicle under normal conditions so as to ensure that the vehicle can run in a safe and parallel mode. However, the radar often detects some interference and obstacles to form false reports, and is also affected by electromagnetic waves of other surrounding vehicle radars, so that the detection data is inaccurate. In addition, the camera is seriously influenced by factors such as weather and the like, and the surrounding driving environment is difficult to accurately detect in severe environment. Therefore, the invention provides a self-adaptive adjusting doubling auxiliary device, which can accurately detect the driving environment around the vehicle in any environment, and reserves a certain safe distance with the front vehicle in the doubling lane changing process to realize safe lane changing.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a doubling auxiliary device capable of being adjusted in an adaptive mode.
The purpose of the invention is realized by the following technical scheme: a self-adaptive-adjustment doubling auxiliary device comprises a doubling auxiliary control unit, a camera module, a detection radar module, an alarm unit, an image display unit and a steering lamp controller.
The doubling auxiliary control unit is connected with the camera module, the detection radar module and the steering lamp controller, and is also connected with the alarm unit and the image display unit.
The steering lamp controller is connected with the steering lamp.
The camera module comprises two cameras which are respectively arranged below the left rear-view mirror and the right rear-view mirror of the vehicle and used for shooting running environments on the left side and the right side of the vehicle.
The detection radar module comprises three millimeter wave radars which are respectively arranged at the middle position of a front bumper of the vehicle and at two sides of the side rear part of the vehicle and used for detecting the driving environment in the front, at two sides and at the side rear part of the vehicle.
The alarm unit comprises a buzzer and an alarm lamp, the buzzer is mounted inside the vehicle, the alarm lamp is mounted on the left rear-view mirror and the right rear-view mirror respectively, and the alarm unit is used for reminding a driver whether safe doubling operation can be performed or not.
The image display unit is a vehicle-mounted system display and is used for displaying pictures of two sides of the vehicle, which are shot by the camera module, and the pictures comprise visual blind areas of the rearview mirrors.
The doubling auxiliary control unit controls the camera and the detection radar to be turned on according to a signal for turning on the steering lamp, calculates corresponding safe distance according to information detected by the camera and the detection radar, and controls the buzzer, the alarm lamp and the display to remind a driver of whether safe doubling operation can be performed.
According to the above device, the present invention provides a method for assisting in controlling doubling, and the detailed contents are described in the detailed description section.
The invention has the beneficial effects that:
(1) fusing data acquired by the camera and the millimeter wave radar so as to accurately detect the driving environment around the vehicle in any environment;
(2) and setting a safe distance and an alarm distance which can be adaptively adjusted according to the state information of the vehicle and the surrounding environment so as to enable the driver to carry out safe doubling operation.
Drawings
FIG. 1 is a schematic view of the connection of the components of the present invention;
FIG. 2 is a schematic view of the present invention in the installed position of the components;
FIG. 3 is a schematic view of the detectable range of the sensor of the present invention;
fig. 4 is a schematic diagram of vehicle safety merging and collision avoidance according to the invention.
Detailed Description
The invention will be further explained with reference to the drawings.
The invention provides a self-adaptive-adjustment doubling auxiliary device, which comprises a doubling auxiliary control unit, a camera module, a detection radar module, an alarm unit, an image display unit and a steering lamp controller, as shown in figure 1.
The doubling auxiliary control unit is connected with the camera module, the detection radar module and the steering lamp controller, and is also connected with the alarm unit and the image display unit, as shown in fig. 1.
The turn light controller is connected with the turn light, as shown in fig. 1.
The camera module comprises two cameras which are respectively arranged below the left rear-view mirror and the right rear-view mirror of the vehicle and are used for shooting driving environments on the left side and the right side of the vehicle, as shown in figure 2.
The detection range of the camera is 4-6 meters on both sides of the vehicle, as shown in fig. 3, the areas shown by the dotted lines in the figure are the detection ranges of the left camera and the right camera respectively.
The detection radar module comprises three millimeter wave radars which are respectively arranged at the middle position of a front bumper of the vehicle and at two sides of the side rear part of the vehicle and used for detecting the driving environment in the front part, two sides and the side rear part of the vehicle, as shown in figure 2.
The millimeter wave radar adopts a 77GHz millimeter wave radar, the detection distance is 50-100 meters, and as shown in fig. 3, the gray areas are the detection ranges of the three millimeter wave radars respectively.
The millimeter wave radar measures multiple groups simultaneouslyAnd the data fitting the measured data to obtain accurate real-time information of the running environment around the vehicle, and the method mainly comprises the following steps: his (rear) vehicle longitudinal speed v1His (rear) vehicle longitudinal acceleration a1The longitudinal distance S between the vehicle and the other (rear) vehicle at the start of the doubling operation0。
The detection distances of the millimeter wave radars on the left side and the right side are automatically adjusted according to the longitudinal speed of the vehicle, and when the vehicle speed is 0-12km/h, the detection distance of the millimeter wave radars is 100 meters; when the vehicle speed is 12-30km/h, the detection distance of the millimeter wave radar is 90 meters; when the vehicle speed is 30-48km/h, the detection distance of the millimeter wave radar is 75 meters; when the vehicle speed is 48-66km/h, the detection distance of the millimeter wave radar is 60 meters; when the vehicle speed is 66-84km/h, the detection distance of the millimeter wave radar is 45 meters; when the vehicle speed exceeds 84km/h, the detection distance of the millimeter wave radar is 30 meters.
The detection distance of the front millimeter wave radar is automatically adjusted according to the longitudinal speed of the vehicle, and when the vehicle speed is 0-36km/h, the detection distance of the millimeter wave radar is 30 meters; when the vehicle speed is 36-54km/h, the detection distance of the millimeter wave radar is 45 meters; when the vehicle speed is 54-72km/h, the detection distance of the millimeter wave radar is 60 meters; when the vehicle speed is 72-90km/h, the detection distance of the millimeter wave radar is 75 meters; when the vehicle speed is 90-108km/h, the detection distance of the millimeter wave radar is 90 meters; when the vehicle speed exceeds 108km/h, the detection distance of the millimeter wave radar is 110 meters.
The detection distance of the millimeter wave radar is only suitable for the doubling auxiliary working condition.
The alarm unit comprises a buzzer and an alarm lamp, the buzzer is arranged inside the vehicle, the alarm lamp is respectively arranged on the left rear-view mirror and the right rear-view mirror, and the alarm unit is used for reminding a driver whether safe doubling operation can be performed or not as shown in figure 2.
The image display unit is a vehicle-mounted system display and is used for displaying pictures of two sides of the vehicle, which are shot by the camera module, and the pictures comprise visual blind areas of the rearview mirrors.
All modules of the doubling auxiliary device are in a dormant state when no doubling operation is performed or a vehicle is not pressed, so that the normal operation of a driver is prevented from being interfered.
The control process and method of the doubling assistance device according to the invention will be described in detail with reference to four embodiments provided below.
In the first embodiment, when the driver turns on the left turn lamp in preparation for starting the doubling operation: the vehicle transmits the left turn light signal to the doubling auxiliary control unit of the device through the turn light controller immediately, then the doubling auxiliary control unit activates the left camera and the left millimeter wave radar and the front millimeter wave radar immediately to detect the surrounding running environment of the vehicle, and transmits the detected data to the doubling auxiliary control unit, and finally the doubling auxiliary control unit controls the buzzer, the alarm light and the vehicle-mounted display through calculation to remind the driver whether to carry out safe doubling operation.
Specifically, in the present embodiment, the front millimeter wave radar detects that no obstacle exists ahead. When the left camera and the left millimeter wave radar detect that no obstacle exists in the surrounding driving environment, the buzzer does not give out alarm sound, the alarm lamp is green, and the vehicle-mounted display does not display the surrounding driving environment; when the left camera and the left millimeter wave radar detect that the obstacle exists in the surrounding driving environment, the doubling auxiliary control unit performs calculation as follows to judge whether the safe doubling operation can be started.
The calculation formula is as follows:
Figure BDA0002767087610000041
in the above formula, s is the distance between the vehicle and other (rear) vehicles after lane change; v. ofrIs the longitudinal speed of the vehicle; v. of1Is the other (rear) vehicle longitudinal speed; t is teIs the lane change time, here taken for 3 s; a is0Is the acceleration of the vehicle; a is1Is the other (rear) vehicle longitudinal acceleration; s0Is the longitudinal distance from the car and other (rear) cars at the beginning of the doubling operation; l is the length of the vehicle body.
In the above, the longitudinal speed v of the bicyclerAnd longitudinal acceleration a0His (rear) vehicle longitudinal speed v, measured by a vehicle sensor1And longitudinal acceleration a1The data measured by the millimeter wave radar and the camera are obtained by simple data fusion, and the longitudinal distance S between the self vehicle and other (rear) vehicles is obtained when the doubling operation is started0The length L of the body of the bicycle is measured by the millimeter wave radar, and the length L of the body of the bicycle is obtained by the actual size information of the bicycle.
When s is less than 5m and less than or equal to 10m, the buzzer does not give out alarm sound, the alarm lamp is green, the vehicle-mounted display does not display the surrounding driving environment, and the driver can safely carry out the wire doubling operation; when s is more than 2m and less than or equal to 5m, the buzzer gives out alarm sound, the alarm lamp is yellow, the vehicle-mounted display displays the surrounding driving environment, and the driver can carry out the wire doubling operation cautiously according to the actual condition; when s is less than or equal to 2m, the buzzer sends out a high-frequency alarm sound, the alarm lamp is red, the vehicle-mounted display displays the surrounding running environment, at the moment, the driver stops the wire-combining operation until the alarm sound is eliminated, the alarm lamp is green, and the wire-combining operation can be carried out again. In the second embodiment, when the driver turns on the left turn lamp in preparation for starting the doubling operation: the vehicle transmits the left turn light signal to the doubling auxiliary control unit of the device through the turn light controller immediately, then the doubling auxiliary control unit activates the left camera and the left millimeter wave radar and the front millimeter wave radar immediately to detect the surrounding running environment of the vehicle, and transmits the detected data to the doubling auxiliary control unit, and finally the doubling auxiliary control unit calculates the corresponding safe distance, controls the buzzer, the alarm light and the vehicle-mounted display to remind the driver of safe doubling operation.
Specifically, in the present embodiment, the front millimeter wave radar detects that an obstacle exists ahead. The longitudinal speed is assumed to be kept unchanged during the vehicle doubling lane change. The doubling auxiliary control unit performs the following calculation to judge whether the doubling lane change and the front vehicle have collision risks at the moment.
The following quintic polynomial parallel collision avoidance model is adopted, and the transverse displacement is as follows:
Figure BDA0002767087610000051
in the formula, yeFor the transverse displacement of the vehicle to complete the doubling, take 3.75m, teAnd changing the lane time for the vehicle.
The derivation is performed twice on the above formula to obtain the formula of the lateral acceleration in the doubling process as follows:
Figure BDA0002767087610000052
the maximum lateral acceleration during the doubling process is
Figure BDA0002767087610000053
Taking into account vehicle stability and driver and passenger comfort
|aymax|≤0.6μ·g
In the formula, μ is a road surface adhesion coefficient, and g is a gravitational acceleration.
Then there are:
Figure BDA0002767087610000054
as shown in FIG. 4, assuming that there is no vehicle interference in the adjacent lanes during the vehicle merging collision avoidance process, according to the given quintic polynomial merging collision avoidance path, the vehicle and other (front) vehicles are most likely to have right front and rear point angular collision and body side scraping during the merging process, wherein the right rear point is the last collision point, so that only limited longitudinal distance S is needed3The right rear point of the bicycle is ensured to cross the barrier. Therefore, the vehicle approaches the collision time point t in the longitudinal directioncComprises the following steps:
Figure BDA0002767087610000055
in the formula taudelayPlanning time lag, v, for vehicle detectionfFor the longitudinal speed of the other (front) vehicle, d0To reserve a safe distance, take 2.5 m.
The transverse displacement y (t) of the vehicle's center of mass must be satisfied in the transverse directionc) Minus LOBIs greater than the lateral width W of the other (front) vehicle relative to the center of mass of the vehiclebWherein L isOB＝LOAcos α, wherein LOAThe distance from the center of mass of the vehicle to the right rear point is calculated according to the formula (1) by rotating the vehicle by taking the point O as the center of a circle
Figure BDA0002767087610000063
At te/2 is taken to be the maximum value, when LOBAlso, since β is the angle between the vehicle center axis and OA, the vehicle may satisfy the following equation in the lateral direction.
Figure BDA0002767087610000061
According to the formula, the critical minimum lane change time t meeting the requirement of doubling collision avoidance can be solvedecLet η be the ratio of the critical collision avoidance minimum lane change time to the current allowable minimum lane change time under the road surface, i.e. η tec/temin。
If eta is less than 1, the critical lane changing time is less than the minimum lane changing time under the attachment condition, the doubling lane changing collision avoidance is not allowed, the buzzer sends out a high-frequency alarm sound, the alarm lamp is red, the vehicle-mounted display displays the surrounding driving environment, the driver stops performing the doubling operation at the moment, and the doubling operation can be performed again until the alarm sound is eliminated and the alarm lamp is green.
If eta is larger than 1, a certain doubling lane-changing buffer exists, and the longitudinal distance can be further fully utilized to reduce the transverse acceleration. But eta should not be too large, so that the merging can be completed in a short time to ensure the road utilization efficiency, and the eta is more than or equal to 1 and less than or equal to 1.5. At the moment, if the left camera and the left millimeter wave radar detect that no obstacle exists in the surrounding driving environment, the buzzer does not give out alarm sound, the alarm lamp is green, and the vehicle-mounted display does not display the surrounding driving environment; if the left camera and the left millimeter wave radar detect that the surrounding driving environment has obstacles, the doubling auxiliary control unit calculates and judges whether the safe doubling operation can be started or not as follows.
The calculation formula is as follows:
Figure BDA0002767087610000062
in the above formula, s is the distance between the vehicle and other (rear) vehicles after lane change; v. ofrIs the longitudinal speed of the vehicle; v. of1Is the other (rear) vehicle longitudinal speed; t is teIs the lane change time, here taken for 3 s; a is1Is the other (rear) vehicle longitudinal acceleration; s0Is the longitudinal distance from the car and other (rear) cars at the beginning of the doubling operation; l is the length of the vehicle body.
In the above, the longitudinal speed v of the bicyclerHis (rear) vehicle longitudinal speed v, measured by a vehicle sensor1And longitudinal acceleration a1The data measured by the millimeter wave radar and the camera are obtained by simple data fusion, so that the data are accurate, and the longitudinal distance S between the self vehicle and other vehicles is obtained when the doubling operation is started0The length L of the body of the bicycle is measured by the millimeter wave radar, and the length L of the body of the bicycle is obtained by the actual size information of the bicycle.
When s is less than 5m and less than or equal to 10m, the buzzer does not give out alarm sound, the alarm lamp is green, the vehicle-mounted display does not display the surrounding driving environment, and the driver can safely carry out the wire doubling operation; when s is more than 2m and less than or equal to 5m, the buzzer gives out alarm sound, the alarm lamp is yellow, the vehicle-mounted display displays the surrounding driving environment, and the driver can carry out the wire doubling operation cautiously according to the actual condition; when s is less than or equal to 2m, the buzzer sends out a high-frequency alarm sound, the alarm lamp is red, the vehicle-mounted display displays the surrounding running environment, at the moment, the driver stops the wire-combining operation until the alarm sound is eliminated, the alarm lamp is green, and the wire-combining operation can be carried out again.
In the third embodiment, when the cameras on the two sides of the vehicle detect wheel pressing lines, the ECU automatically turns on the corresponding steering lamps, and if a front obstacle is not detected, other method steps are the same as those of the first embodiment.
In the fourth embodiment, when the cameras on the two sides of the vehicle detect wheel pressing lines, the ECU automatically turns on the corresponding steering lamps, and if a front obstacle is detected, other method steps are the same as those in the second embodiment.
The self-adaptive adjusting doubling auxiliary device and the control method provided by the invention are also suitable for the safe right-turning doubling operation of the vehicle.
The above-listed series of detailed descriptions are merely specific illustrations of possible embodiments of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent means or modifications that do not depart from the technical spirit of the present invention are intended to be included within the scope of the present invention.

Claims (8)

1. An adaptive-adjustment doubling auxiliary device is characterized by comprising: the system comprises a doubling auxiliary control unit, a camera module, a detection radar module, an alarm unit, an image display unit and a steering lamp controller; the doubling auxiliary control unit is connected with the camera module, the detection radar module, the alarm unit, the image display unit and the steering lamp controller, and the steering lamp controller is connected with the steering lamp;
the doubling auxiliary control unit controls the camera and the detection radar to be turned on according to a signal for turning on the steering lamp, calculates corresponding safe distance according to information detected by the camera and the detection radar, and controls the buzzer, the alarm lamp and the display to remind a driver of whether safe doubling operation can be performed.
2. The adaptive-adjustment doubling auxiliary device according to claim 1, wherein the camera module comprises two cameras respectively installed below left and right rearview mirrors of the vehicle for photographing driving environments on left and right sides of the vehicle.
3. The adaptive-adjustment doubling auxiliary device according to claim 1, wherein the detection radar module comprises three millimeter-wave radars respectively installed at the middle position of a front bumper of the vehicle and at the left and right sides behind the vehicle for detecting the driving environment in front of the vehicle, at the two sides of the vehicle and at the side behind the vehicle.
4. The adaptive-adjustment doubling auxiliary device according to claim 3, wherein the detection distance of the millimeter wave radar on the left side and the right side can be automatically adjusted according to the longitudinal speed of the vehicle: when the vehicle speed is 0-12km/h, the detection distance of the millimeter wave radar is adjusted to 100 meters; when the vehicle speed is 12-30km/h, the detection distance of the millimeter wave radar is adjusted to 90 meters; when the vehicle speed is 30-48km/h, the detection distance of the millimeter wave radar is adjusted to 75 meters; when the vehicle speed is 48-66km/h, the detection distance of the millimeter wave radar is adjusted to 60 meters; when the vehicle speed is 66-84km/h, the detection distance of the millimeter wave radar is adjusted to 45 meters; when the vehicle speed exceeds 84km/h, the detection distance of the millimeter wave radar is adjusted to 30 meters.
The detection distance of the front millimeter wave radar can be automatically adjusted according to the longitudinal speed of the vehicle: when the vehicle speed is 0-36km/h, the detection distance of the millimeter wave radar is adjusted to 30 meters; when the vehicle speed is 36-54km/h, the detection distance of the millimeter wave radar is adjusted to 45 meters; when the vehicle speed is 54-72km/h, the detection distance of the millimeter wave radar is adjusted to 60 meters; when the vehicle speed is 72-90km/h, the detection distance of the millimeter wave radar is adjusted to 75 meters; when the vehicle speed is 90-108km/h, the detection distance of the millimeter wave radar is adjusted to 90 meters; when the vehicle speed exceeds 108km/h, the detection distance of the millimeter wave radar is adjusted to 110 meters.
5. The adaptive adjustment doubling auxiliary device according to claim 1, wherein the alarm unit comprises a buzzer and a warning light, the buzzer is installed inside the vehicle, the warning light is respectively installed on the left rear-view mirror and the right rear-view mirror, and the alarm unit is used for reminding a driver whether a safe doubling operation is available.
6. The adaptive-adjustment doubling auxiliary device according to claim 1, wherein the image display unit is an on-vehicle system display for displaying images of both sides of the vehicle captured by the camera module, and the images include a blind area of a rearview mirror.
7. A self-adaptive adjustment doubling auxiliary control method is characterized by comprising the following conditions:
when the driver turns on the left turn signal to prepare for the start of the doubling operation: the vehicle immediately transmits a left steering lamp signal to a parallel auxiliary control unit of the device through a steering lamp controller, then the parallel auxiliary control unit immediately activates a left camera, a left millimeter wave radar and a front millimeter wave radar to detect the surrounding driving environment of the vehicle, and transmits detected data to the parallel auxiliary control unit, and finally the parallel auxiliary control unit controls a buzzer, an alarm lamp and a vehicle-mounted display through calculation to remind a driver of safe parallel operation;
when the front millimeter wave radar detects that no obstacle exists in the front, and the left camera and the left millimeter wave radar detect that no obstacle exists in the surrounding driving environment, the buzzer does not give out an alarm, the alarm lamp is green, and the vehicle-mounted display does not display the surrounding driving environment; when the left camera and the left millimeter wave radar detect that the obstacle exists in the surrounding driving environment, the doubling auxiliary control unit performs the following calculation to judge whether the safe doubling operation can be started or not:
Figure FDA0002767087600000021
in the above formula, s is the distance between the vehicle and other (rear) vehicles after lane change; v. ofrIs the longitudinal speed of the vehicle; v. of1Is the other (rear) vehicle longitudinal speed; t is teIs the lane change time, here taken for 3 s; a is0Is the acceleration of the vehicle; a is1Is the other (rear) vehicle longitudinal acceleration; s0Is the longitudinal distance from the car and other (rear) cars at the beginning of the doubling operation; l is the length of the bicycle body;
when s is less than 5m and less than or equal to 10m, the buzzer does not give out alarm sound, the alarm lamp is green, the vehicle-mounted display does not display the surrounding driving environment, and the driver can safely carry out the wire doubling operation;
when s is more than 2m and less than or equal to 5m, the buzzer gives out alarm sound, the alarm lamp is yellow, the vehicle-mounted display displays the surrounding driving environment, and the driver can carry out the wire doubling operation cautiously according to the actual condition;
when s is less than or equal to 2m, the buzzer sends out a high-frequency alarm sound, the alarm lamp is red, the vehicle-mounted display displays the surrounding running environment, at the moment, the driver stops the wire-combining operation until the alarm sound is eliminated, the alarm lamp is green, and the wire-combining operation can be carried out again.
When the driver turns on the left turn light to prepare for starting the doubling operation: the vehicle immediately transmits a left steering lamp signal to a doubling auxiliary control unit of the device through a steering lamp controller, then the doubling auxiliary control unit immediately activates a left camera, a left millimeter wave radar and a front millimeter wave radar to detect the surrounding driving environment of the vehicle, and transmits detected data to the doubling auxiliary control unit, and finally the doubling auxiliary control unit calculates a corresponding safe distance to control a buzzer, an alarm lamp and a vehicle-mounted display to remind a driver of safe doubling operation;
when the existing millimeter wave radar detects that an obstacle exists in front and the vehicle is set to be in a parallel lane change process, the longitudinal speed is kept unchanged, the parallel auxiliary control unit calculates and judges whether the parallel lane change and the front vehicle have collision risk or not,
adopting a quintic polynomial parallel collision avoidance model, and calculating the transverse displacement as follows:
Figure FDA0002767087600000031
in the formula, yeFor the transverse displacement of the vehicle to complete the doubling, take 3.75m, teLane change time for the vehicle;
the derivation is performed twice on the above formula to obtain the formula of the lateral acceleration in the doubling process as follows:
Figure FDA0002767087600000032
the maximum lateral acceleration during the doubling process is
Figure FDA0002767087600000033
Taking into account vehicle stability and driver and passenger comfort
|aymax|≤0.6μ·g
In the formula, mu is a road surface adhesion coefficient, and g is a gravity acceleration;
then there are:
Figure FDA0002767087600000034
the adjacent lanes have no vehicle interference in the vehicle merging collision avoidance process, and the vehicle is separated from a collision time point t in the longitudinal directioncComprises the following steps:
Figure FDA0002767087600000035
in the formula taudelayPlanning time lag, v, for vehicle detectionfFor the longitudinal speed of the other (front) vehicle, d0Taking 2.5m for reserving a safe distance;
the transverse displacement y (t) of the vehicle's center of mass must be satisfied in the transverse directionc) Minus LOBIs greater than the lateral width W of the other (front) vehicle relative to the center of mass of the vehiclebWherein L isOB＝LOAcos α, wherein LOAThe distance from the center of mass of the vehicle to the right rear point is calculated according to the formula (1) by rotating the vehicle by taking the point O as the center of a circle
Figure FDA0002767087600000036
At te/2 is taken to be the maximum value, when LOBAlso taking the maximum value, β is the angle between the central axis of the vehicle and OA, so the vehicle in the lateral direction satisfies the following equation:
Figure FDA0002767087600000041
according to the formula, the critical minimum lane change time t meeting the requirement of doubling collision avoidance can be solvedecLet η be the ratio of the critical collision avoidance minimum lane change time to the current allowable minimum lane change time under the road surface, i.e. η tec/temin；
If eta is less than 1, the critical lane changing time is less than the minimum lane changing time under the attachment condition, the doubling lane changing collision avoidance is not allowed, the buzzer sends out a high-frequency alarm sound, the alarm lamp is red, the vehicle-mounted display displays the surrounding driving environment, the driver stops performing the doubling operation at the moment, and the doubling operation can be performed again until the alarm sound is eliminated and the alarm lamp is green;
if eta is larger than 1, a certain doubling lane-changing buffer exists, the longitudinal distance can be further fully utilized to reduce the transverse acceleration, eta is not less than 1 and not more than 1.5, at the moment, if the left camera and the left millimeter wave radar detect that no obstacle exists in the surrounding driving environment, the buzzer does not give out alarm sound, the alarm lamp is green, and the vehicle-mounted display does not display the surrounding driving environment; if the left camera and the left millimeter wave radar detect that the surrounding driving environment has obstacles, the doubling auxiliary control unit calculates and judges whether the safe doubling operation can be started or not;
the calculation formula is as follows:
Figure FDA0002767087600000042
in the above formula, s is the distance between the vehicle and other (rear) vehicles after lane change; v. ofrIs the longitudinal speed of the vehicle; v. of1Is the other (rear) vehicle longitudinal speed; t is teIs the lane change time, here taken for 3 s; a is1Is the other (rear) vehicle longitudinal acceleration; s0Is the longitudinal distance from the car and other (rear) cars at the beginning of the doubling operation; l is the length of the bicycle body;
when s is less than 5m and less than or equal to 10m, the buzzer does not give out alarm sound, the alarm lamp is green, the vehicle-mounted display does not display the surrounding driving environment, and the driver can safely carry out the wire doubling operation;
when s is more than 2m and less than or equal to 5m, the buzzer gives out alarm sound, the alarm lamp is yellow, the vehicle-mounted display displays the surrounding driving environment, and the driver can carry out the wire doubling operation cautiously according to the actual condition;
when s is less than or equal to 2m, the buzzer sends out a high-frequency alarm sound, the alarm lamp is red, the vehicle-mounted display displays the surrounding driving environment, at the moment, the driver stops the wire-combining operation until the alarm sound is eliminated, and the alarm lamp is green, so that the wire-combining operation can be carried out again;
when the cameras on two sides of the vehicle detect the wheel pressing line, the ECU automatically turns on the corresponding steering lamp, and if no obstacle is detected ahead, the control method and the situation are the same.
When the cameras on the two sides of the vehicle detect the wheel pressing line, the ECU automatically turns on the corresponding steering lamps, and if an obstacle in front is detected, the steps and the situation of the control method are the same;
the left-turn doubling method is also applicable to right-turn doubling.
8. The adaptive control doubling auxiliary control method according to claim 7, wherein the longitudinal speed v of the vehicle isrAnd longitudinal acceleration a0His (rear) vehicle longitudinal speed v, measured by a vehicle sensor1And longitudinal acceleration a1The data measured by the millimeter wave radar and the camera are obtained by simple data fusion, and the longitudinal distance S between the self vehicle and other (rear) vehicles is obtained when the doubling operation is started0The length L of the body of the bicycle is measured by the millimeter wave radar, and the length L of the body of the bicycle is obtained by the actual size information of the bicycle.
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